"File and Printer Sharing" is turned on by default, IIRC.  And if it is off, all you do is check one box in the firewall configuration and then connect to \\computername\c$ and copy your file.  But as Nothinman said, either you are going to block it or not, if you could get around the firewall, then that would defeat the purpose of the firewall now wouldn't it?  Either open the ports or use sneakernet.
If you are worried about the security of Microsoft's file and printer sharing, there are other options.  For one, you could install openssh server on one or both boxen, then use WinSCP to copy the files (and open firewall tcp port 22).  The other option is, if you would also like remote control abilities, install UltraVNC and use the MSRC4Plugin to encrypt the connection and use the UltraVNC clients built-in file transfer to transfer the files (and open firewall port 5900).  Both of these methods are as secure as you can get.  The encryption used by ssh and MSRC4Plugin is unbreakable.